{"id":"https://openalex.org/W7123342955","doi":"https://doi.org/10.1109/lra.2026.3653299","title":"TacFinRay: Soft Tactile Fin-Ray Finger With Indirect Tactile Sensing for Robust Grasping","display_name":"TacFinRay: Soft Tactile Fin-Ray Finger With Indirect Tactile Sensing for Robust Grasping","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123342955","doi":"https://doi.org/10.1109/lra.2026.3653299"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3653299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653299","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122852143","display_name":"Saekwang Nam","orcid":null},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Saekwang Nam","raw_affiliation_strings":["Graduate School of Data Science, Kyungpook National University, Daegu, South Korea"],"affiliations":[{"raw_affiliation_string":"Graduate School of Data Science, Kyungpook National University, Daegu, South Korea","institution_ids":["https://openalex.org/I31419693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019923149","display_name":"Bowen Deng","orcid":"https://orcid.org/0000-0003-1447-842X"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bowen Deng","raw_affiliation_strings":["University of Bristol, Bristol, U.K"],"affiliations":[{"raw_affiliation_string":"University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086542614","display_name":"L. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Loong Yi Lee","raw_affiliation_strings":["University of Bristol, Bristol, U.K"],"affiliations":[{"raw_affiliation_string":"University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061139675","display_name":"Jonathan Rossiter","orcid":"https://orcid.org/0000-0002-9109-9987"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jonathan M. Rossiter","raw_affiliation_strings":["University of Bristol, Bristol, U.K"],"affiliations":[{"raw_affiliation_string":"University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035332087","display_name":"Professor Nathan Lepora","orcid":null},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nathan F. Lepora","raw_affiliation_strings":["University of Bristol, Bristol, U.K"],"affiliations":[{"raw_affiliation_string":"University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5122852143"],"corresponding_institution_ids":["https://openalex.org/I31419693"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.169054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"2722","last_page":"2729"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9143000245094299,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9143000245094299,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.049300000071525574,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.010499999858438969,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7192000150680542},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.6642000079154968},{"id":"https://openalex.org/keywords/indentation","display_name":"Indentation","score":0.5314000248908997},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.45899999141693115},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4359000027179718},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.38339999318122864},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.35499998927116394},{"id":"https://openalex.org/keywords/tactile-display","display_name":"Tactile display","score":0.3465000092983246}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7192000150680542},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.6642000079154968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6018000245094299},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5726000070571899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5389000177383423},{"id":"https://openalex.org/C2780902562","wikidata":"https://www.wikidata.org/wiki/Q1154141","display_name":"Indentation","level":2,"score":0.5314000248908997},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.45899999141693115},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4359000027179718},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.38339999318122864},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.35499998927116394},{"id":"https://openalex.org/C2984899217","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Tactile display","level":2,"score":0.3465000092983246},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3352000117301941},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3260999917984009},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3249000012874603},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.2881999909877777},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2750000059604645}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3653299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653299","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1548071717","https://openalex.org/W2128681845","https://openalex.org/W2917559944","https://openalex.org/W3008303301","https://openalex.org/W3016727646","https://openalex.org/W3136130311","https://openalex.org/W3186174046","https://openalex.org/W4285226930","https://openalex.org/W4306632919","https://openalex.org/W4376605642","https://openalex.org/W4386531676","https://openalex.org/W4386869592","https://openalex.org/W4387935000","https://openalex.org/W4391348866","https://openalex.org/W4394698567","https://openalex.org/W4394966816","https://openalex.org/W4400035825","https://openalex.org/W4402592312","https://openalex.org/W4403182289","https://openalex.org/W4404115481","https://openalex.org/W4408286669","https://openalex.org/W4411550827","https://openalex.org/W4414458360","https://openalex.org/W4415008759"],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,32,45,77,127,146],"tactile-sensorized":[3],"Fin-Ray":[4,29],"finger":[5,89,92],"that":[6],"enables":[7],"simultaneous":[8],"detection":[9],"of":[10,53,61],"contact":[11,83,167],"location":[12],"and":[13,31,38,100,107,121,149],"indentation":[14],"depth":[15,106],"through":[16],"an":[17,51,71],"indirect":[18],"sensing":[19,34,87,152,161],"approach.":[20],"A":[21],"hinge":[22,101],"mechanism":[23],"is":[24],"integrated":[25],"between":[26],"the":[27,58,62,88,135,160,166],"soft":[28,156],"structure":[30,60],"rigid":[33],"module,":[35],"allowing":[36],"deformation":[37],"translation":[39],"information":[40],"to":[41,44,81,117,126],"be":[42],"transferred":[43],"bottom":[46],"crossbeam":[47],"upon":[48],"which":[49,123],"are":[50,74],"array":[52],"marker-tipped":[54],"pins":[55],"based":[56],"on":[57],"biomimetic":[59],"TacTip":[63],"vision-based":[64],"tactile":[65,136,151],"sensor.":[66],"Deformation":[67],"patterns":[68],"captured":[69],"by":[70,96],"internal":[72],"camera":[73],"processed":[75],"using":[76],"convolutional":[78],"neural":[79],"network":[80],"infer":[82],"conditions":[84],"without":[85],"directly":[86],"surface.":[90],"The":[91,112],"design":[93],"was":[94,124],"optimized":[95],"varying":[97],"pin":[98],"configurations":[99],"orientations,":[102],"achieving":[103],"0.1":[104],"mm":[105,109],"2":[108],"location-sensing":[110],"accuracies.":[111],"perception":[113],"demonstrated":[114],"robust":[115],"generalization":[116],"various":[118],"indenter":[119],"shapes":[120],"sizes,":[122],"applied":[125],"pick-and-place":[128],"task":[129],"under":[130],"uncertain":[131],"picking":[132],"positions,":[133],"where":[134,159],"feedback":[137],"significantly":[138],"improved":[139],"placement":[140],"accuracy.":[141],"Overall,":[142],"this":[143],"work":[144],"provides":[145],"lightweight,":[147],"flexible,":[148],"scalable":[150],"solution":[153],"suitable":[154],"for":[155],"robotic":[157],"structures":[158],"needs":[162],"situating":[163],"away":[164],"from":[165],"interface.":[168]},"counts_by_year":[],"updated_date":"2026-01-26T23:06:41.788003","created_date":"2026-01-14T00:00:00"}